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New Passivity Observers for Improved Robot Force Control

Jorda, Mikael and Balachandran, Ribin and Ryu, Jee-Hwan and Khatib, Oussama (2017) New Passivity Observers for Improved Robot Force Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, Canada.

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Abstract

Abstract— This paper extends the previously proposed Explicit Force Controller based on Time Domain Passivity Approach. When using the classical passivity observer, we encounter an energy accumulation problem : if the system stays a long time in stable contact, energy is dissipated and the passivity observer builds up a large value. This cause the passivity controller to be triggered very late when the interaction becomes unstable, and we lose the advantage of the passivity controller. In order to deal with this energy accumulation issue, we propose two new passivity observers that ”forget” about energy previously dissipated. We prove the theoretical validity of these new observers. In addition, we propose a more generalized way of implementing the passivity based explicit force controller on a multi DoF manipulator, using a model for the robot and environment that includes sensor flexibility, and a Hybrid Position/Force controller in the operational space framework. The proposed method is experimentally tested with KUKA LWR, and the improved performance is verified.

Item URL in elib:https://elib.dlr.de/116795/
Document Type:Conference or Workshop Item (Speech)
Title:New Passivity Observers for Improved Robot Force Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Jorda, Mikaelmjorda (at) stanford.eduUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Ryu, Jee-HwanKorea University of Technology and EducationUNSPECIFIED
Khatib, OussamaUNSPECIFIEDUNSPECIFIED
Date:7 December 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Stability, Passivity, Force control
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Event Location:Vancouver, Canada
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Radhakrishna Balachandran, Ribin
Deposited On:07 Dec 2017 16:33
Last Modified:07 Dec 2017 16:33

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